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Income Taxes - Reconciliation of Unrecognized Tax Benefits (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Reconciliation of Unrecognized Tax Benefits, Excluding Amounts Pertaining to Examined Tax Returns [Roll Forward]      
Unrecognized tax benefits at January 1 $ 114,057 $ 118,781 $ 140,309
Increases for positions taken in current year 5,855 5,034 5,113
Increases for positions taken in a prior year 18,831 8,037 3,658
Decreases for positions taken in a prior year (4,841) (7,315) (1,324)
Decreases for settlements with taxing authorities (273) (1,236) (2,852)
Decreases for lapses in the applicable statute of limitations (3,659) (9,244) (26,123)
Unrecognized tax benefits at December 31 $ 129,970 $ 114,057 $ 118,781